Galavant
It's 2 seasons, bingeable in an afternoon, with a soundtrack that will have you reliving such fun memories.
The princess is captured by the evil king and the heroic knight charges off to save her. Except the princess is a bitch and stays with the king, the king is incompetent and tries way too hard to be likable, and the knight is a little past his prime.
And the whole thing is set in medieval times, and it's a musical.
It should've never gotten a second season, it was way too good to have a second season, and when they got a second season they went so hard on it.
If you're a fan of fantasy, or musical theater, or comedy, you have to check it out, because I doubt you've heard of it.